JP7012488B2 - Elevator door control and elevator door drive system - Google Patents

Description

The present invention relates to an elevator door control device and an elevator door drive system using the same.

The door control device of the elevator is attached to the car side, and controls the opening / closing operation of the door by sliding the door panel by the power of the motor.

The door panel is coupled to an endless belt (V-belt, toothed belt, etc.) or steel wire rope wrapped around the pulley. When the belt or steel rope is driven by the power of the motor, the door panels move together and slide left and right.

The door panel is suspended on a door rail provided at the top of the car doorway. Further, the door shoe provided at the lower part of the door panel slidably engages with the groove of the threshold (sill) in the car floor. The door panel is guided by the door rail and the groove of the threshold, and slides in a certain direction without shifting from the doorway.

When the car is on the floor, the landing side door and the car side door are engaged with each other by the engaging element provided on each door. As a result, when the door on the car side is driven, the door on the landing side is also driven, so that both doors open and close at the same time.

In the opening / closing control of a door provided with the above-mentioned mechanism, both speed tracking performance and vibration suppression performance are required. If the speed tracking performance is low, a position error will occur along with the speed error, and the door will not be able to accurately move the desired distance according to the speed command. As a result, the deceleration start position of the door deviates from the predetermined position, so that the door collides with the open end portion or the closed end portion, or the door moves to the open end portion or the closed end portion for a long time. Further, if the vibration suppression performance is low, the door may vibrate to generate noise, or the door may resonate at a low frequency to damage the mechanism.

Since the speed tracking performance and the vibration suppression performance are in a trade-off relationship in normal proportional integral control (PI control), in order to obtain the desired performance, the control gain and control command are set according to the door mechanism and its operating state. Adjustment is required.

For example, the control gain may be changed (see Patent Document 1 and Patent Document 2) or the speed command pattern may be changed based on the weight of the door or the history of control data when the door is opened / closed (see Patent Document 3). ..

In addition, safety is also required for door opening / closing control. On the other hand, by setting the speed command value so that the kinetic energy when the door closes satisfies the reference value, the impact when the passenger is pinched by the door is alleviated (see Patent Document 4).

Japanese Unexamined Patent Publication No. 4-243791 Japanese Unexamined Patent Publication No. 2000-159461 Japanese Unexamined Patent Publication No. 2011-152973 Japanese Unexamined Patent Publication No. 2009-155086

However, if the control gain is changed, the speed followability is improved, but the response frequency of the controller changes. Therefore, when the resonance frequency of the door mechanism and the response band of the controller overlap, vibration and noise are generated. Therefore, the vibration suppression performance may not always be satisfied.

Further, when the speed command pattern is changed, the kinetic energy of the door changes, so that the kinetic energy of the door increases depending on the changed pattern. Therefore, it becomes difficult to ensure sufficient safety.

Further, even if sufficient safety can be ensured only by setting the speed command value so that the kinetic energy satisfies the reference value, it is difficult to achieve both speed tracking performance and vibration suppression performance.

Therefore, the present invention provides an elevator door control device capable of achieving both of a plurality of performances and an elevator door drive system using the same.

In order to solve the above problems, the door control device for an elevator according to the present invention outputs a control command for driving a door mechanism provided in a car according to a target command of a door operating state. It has a control unit that creates control commands according to the control input, and an evaluation index that evaluates the door operating state and control input together. It calculates the control input that optimizes the evaluation index, and outputs the calculated control input. It includes an optimum control unit that outputs to the control unit, and further comprises any of the following means.
As the first means, the optimum control unit has a model of the door mechanism, calculates the door operating state by the model, and calculates the control input for optimizing the evaluation index based on the calculated door operating state. The optimum control unit calculates the door operating state in the predicted section from the current time to the predetermined time by the model, and calculates the control input for optimizing the evaluation index in the predicted section based on the calculated door operating state. A detection unit for detecting the door operation state of the door mechanism is provided, and the optimum control unit calculates the door operation state with the feedback value of the door operation state from the detection unit as an initial value.
As a second means, the door operating state includes the acceleration of the door in the door mechanism.
As a third means, the door operating state is the speed and acceleration of the door in the door mechanism, and the control input is the current command.
As a fourth means, the door operating state is the position and acceleration of the door in the door mechanism, and the control input is the speed command.

Further, in order to solve the above problems, the door drive system of the elevator according to the present invention includes a motor, a door opened and closed by the motor, and an inverter device for driving the motor, and has a door mechanism provided in the car. The door control device includes a door control device that outputs a control command given to the inverter device for driving the door mechanism according to a target command of the door operating state, and the door control device is according to the present invention. It is an elevator door control device .

According to the present invention, it is possible to achieve both a plurality of performances related to a door operating state.

Issues, configurations and effects other than those described above will be clarified by the description of the following embodiments.

It is an overall block diagram which shows the door control device of the elevator which is Example 1. FIG. An example of the speed pattern is shown. An example of the speed waveform of the door by the model predictive control in Example 1 is shown. An example of a velocity waveform by normal proportional integral control is shown. An example of an acceleration waveform by model prediction control and proportional integral control in Example 1 is shown. It is an overall block diagram which shows the door control device of the elevator which is Example 2. FIG. The speed command and the speed waveform of the door by the model predictive control in Example 2 are shown.

Hereinafter, embodiments of the present invention will be described with reference to the following Examples 1 and 2 with reference to the drawings. In each figure, those having the same reference number indicate the same constituent requirements or the constituent requirements having similar functions.

FIG. 1 is an overall configuration diagram showing an elevator door drive system including a door control device (door control controller) according to the first embodiment of the present invention.

In FIG. 1, 103 is an elevator car that moves up and down between floors, and the door mechanism of the car 103 is configured by the components 101, 102, 104 to 107. 101 is a DC power supply, 102 is a DC capacitor charged by the DC power supply 101, 104 is a door motor that opens and closes the door of the car 103, 105 is an inverter device that drives the door motor 104, and 106 is a motor that detects the current flowing through the door motor 104. The current detector, 107, indicates a rotary encoder that detects the rotation speed and the rotor position of the door motor 104. In the first embodiment, a permanent magnet synchronous motor is applied as the door motor 104.

In addition, as a component of the door mechanism, there is an endless belt to which the door panel is connected and driven by the door motor 104, but the door mechanism itself is based on a known technique and will be described in detail. Is omitted.

In FIG. 1, FIGS. 108 to 117 show components of a door control controller that controls the inverter device 105. Each component will be described later.

By charging the DC capacitor 102 with the DC power of the DC power supply 101, a DC input power having a constant voltage to the inverter device 105 is obtained. This DC input power is converted into AC power by controlling the inverter device 105 in response to a control command output by the door control controller. The AC power output from the inverter device 105 rotates the door motor 104 to control the opening and closing of the door. In the first embodiment, the control command output by the door control controller is a PWM (Pulse Width Modulation) command for controlling the on / off of the power conversion semiconductor switching element constituting the main circuit of the inverter device 105. As the semiconductor switching element for power conversion, an insulated gate bipolar transistor (IGBT), a junction bipolar transistor, or the like can be applied.

Next, the door control controller will be described.

As described in detail below, the door control controller in the first embodiment is a control command for driving the door mechanism in response to a speed command and an acceleration command which are target commands of the door operating state, that is, the above-mentioned PWM command. Is output. Here, the PWM command is output from the current control unit 108, and at this time, the current command (command value of the motor current), which is a control input to the current control unit 108, is created by applying so-called optimum control. ..

The value of the motor current detected by the motor current detector 106 is taken into the door control controller and input to the current control unit 108. The current control unit 108 creates a dq-axis voltage command so that the detected motor current becomes a desired current value given by the current command by vector control for controlling the permanent magnet synchronous motor. Further, the current control unit 108 converts the dq-axis voltage command into a three-phase voltage command by two-phase three-phase coordinate conversion, and the PWM command created based on the three-phase voltage command is the semiconductor switching for power conversion in the inverter device 105. Output to the element.

Further, the rotary encoder 107 outputs a pulse signal in synchronization with the rotation of the door motor 104. This pulse signal is input to the speed detection unit 109. The speed detection unit 109 detects the speed of the door motor 104 from the interval of the input pulse signal, the number of pulses per unit time, and the like, and outputs the speed information as a speed feedback value to the optimum control unit 113.

The acceleration sensor 116 detects the acceleration of the door, which indicates the vibration state of the door. The detected acceleration is input to the acceleration detection unit 117. The acceleration detection unit 117 converts the input acceleration analog signal into D / A conversion to obtain acceleration information, and outputs the acceleration information as an acceleration feedback value to the optimum control unit 113. As the acceleration sensor 116, for example, a 3-axis acceleration sensor using MEMS (Micro Electro Mechanical Systems) is applied.

In the first embodiment, the velocity and the acceleration are sensed respectively, but the present invention is not limited to this, and the velocity information is differentiated to calculate the acceleration information, or the velocity and the acceleration are estimated by using an observer, a Kalman filter, or the like. You may.

The acceleration command generation unit 110 generates a command value for the vibration acceleration of the door and outputs it to the optimum control unit 113. Normally, the command value is zero in order to suppress the vibration of the door.

The speed command generation unit 111 generates a speed command, that is, a speed pattern of the door, and outputs the speed command to the optimum control unit 113. An example of the speed pattern is shown in FIG. Note that FIG. 2 also shows the corresponding acceleration pattern, that is, the acceleration in the door traveling direction.

As shown in FIG. 2, the speed pattern when opening and closing the door is low at the start and stop of the door running, that is, at the opening / closing end of the door, and becomes the maximum speed near the frontage, that is, near the center of the door running range. .. As shown in FIG. 2, this velocity pattern is, so to speak, a hat-shaped velocity pattern.

The optimum control unit 113 (FIG. 1) includes a door model 114 expressed by an equation of motion regarding a mechanical portion of the door, and an optimizer 115 which is a solver for solving an optimum control problem. In the optimum control unit 113, the speed feedback value detected by the speed detection unit 109 is the speed based on the acceleration command input from the acceleration command generation unit 110 and the speed pattern (speed command) input from the speed command generation unit 111. A current command is created by solving the optimum control problem so that the acceleration feedback value detected by the acceleration detection unit 117 follows the acceleration command and the vibration of the door is suppressed so as to follow the command. Output to the current control unit 108.

In the first embodiment, the equation of motion in the door model 114 is represented by a so-called equation of state including velocity and acceleration as state quantities. In addition, the equation of motion includes the door driving force. Since the driving force is given by the torque of the door motor 104, it depends on the motor current flowing through the door motor 104. Therefore, in the first embodiment, the door driving force is represented by a current command output from the optimum control unit 113 to the current control unit 108, and the equation of motion includes the current command.

Here, in the optimum control unit 113, the speed and acceleration in the door operating state and the current command for giving the door driving force are comprehensively evaluated by a predetermined evaluation index as described later. The optimum control unit 113 calculates a current command for optimizing the evaluation index, and gives the calculated current command to the current control unit as a control input. In the first embodiment, the evaluation index is represented by a predetermined function (evaluation function).

Here, the velocity and acceleration to be evaluated are the velocity response and acceleration response of the door mechanism calculated by the door model 114, respectively. In order to evaluate the followability, in the evaluation index, the difference between the speed command and the speed response and the difference between the acceleration command and the acceleration response are used as evaluation values. Further, in the first embodiment, in order to ensure safety, the kinetic energy of the door according to the velocity response and the acceleration response is evaluated. Therefore, the kinetic energy of the door is also used as the evaluation value in the evaluation index.

In the first embodiment, the evaluation index in the optimum control is represented by a predetermined function (evaluation function) having each of the above evaluation values as a variable.

Further, in the first embodiment, the optimum control unit 113 uses the door model 114 as initial values of the acceleration feedback value and the speed feedback value output by the acceleration detection unit 117 and the speed detection unit 109, respectively, from the present time. Calculates the velocity response and acceleration response in the future (hereinafter referred to as "prediction period") for a predetermined time. The optimum control unit 113 calculates an evaluation value for each calculated response, and uses the optimizer 115 to obtain an integrated value for a predetermined time in the prediction period for the evaluation function including each evaluation value including the current command. Calculate the current command when it becomes optimum (for example, minimum or maximum). The specific calculation means will be described later.

The constraint condition storage unit 112 stores the constraint conditions for the optimum control unit 113 to solve the optimum control problem. Therefore, the optimum control unit 113 reads the constraint condition from the constraint condition storage unit 112, and executes the optimum control under the read constraint condition. The constraint conditions are, for example, "maximum and minimum value of velocity detection value", "maximum and minimum value of current command", "maximum and minimum value of slope of current command", and "maximum value of kinetic energy of door". And the minimum value ". These are, so to speak, the maximum / minimum value of the input / output of the optimum control unit 113 and the maximum / minimum value of the slope of the input / output.

In the optimal control problem, the state quantity (state equation) in the door model 114 can be used as a constraint condition. For example, when the output part (output equation) of the equation of motion of the door mechanism part includes the speed of the door end, the state quantity related to the speed of the door end can be a constraint condition. In this case, since the speed at the door end corresponds to the kinetic energy of the door, the constraint condition is obtained by adding the kinetic energy to the output part of the kinetic equation and adding the kinetic energy to the door model 114 as a new state quantity. May be modified and used.

Hereinafter, the calculation means in the optimum control unit 113 will be described. First, a general theory of the optimal control problem will be described, and then the arithmetic means applied to the first embodiment will be described.

The optimum control unit 113 determines the output (current command) by solving the optimum control problem in which finding the state feedback control rule is set as a problem within a finite time range (prediction period). Such controls are commonly referred to as "Model Predictive Control (abbreviated as MPC)" or "receding horizon control (abbreviated as RH control)", where the door state. The equation is defined by equation (1) as time-invariant.

x (t) is a state vector, and the speed, acceleration, kinetic energy, etc. of the door are used as state quantities. Further, u (t) is a control input vector and corresponds to a current command and a torque command.

Examples of the door model represented by the equation (1) include a model having one inertia including the motor to the door panel, and a model having a belt connected to the motor as a spring / damper. The model to be applied is appropriately selected according to the required control performance (vibration damping performance, tracking performance, etc.). In general, a higher-order model has higher control performance, but a higher calculation cost. Therefore, it is preferable to select a model in consideration of the calculation cost.

In the first embodiment, the kinetic energy of the door is a constraint regardless of the model to be applied. This makes it possible to open and close the door without the kinetic energy being too much or too little. Furthermore, u (so that the time integration of the evaluation values (for door speed and door acceleration, the difference between these and the command value) or the time integration of the evaluation function including these evaluation values is the smallest within the constraints. By setting t), both speed followability and vibration suppression performance can be improved while satisfying the constraint conditions.

In the optimal control problem in model predictive control, it is known that the evaluation function J as in Eq. (2) is minimized in order to optimize the response of the system. In equation (2), the first term on the right-hand side and L to be integrated are scalar value functions.

Here, t indicates the current time to be controlled, T indicates the length of the evaluation section which is the future time to be evaluated, and within this section, the control input vector u (t) that minimizes J is calculated. This makes it possible to obtain the optimum control input until a finite future time.

In order to obtain the control input vector u (t), the Hamiltonian H as in the equation (3) is introduced.

When the Hamiltonian H of the equation (3) is introduced, u (t) is obtained from the equations (5) to (7) derived from the retention condition of the first variation of the evaluation function J and the equation of state (equation (4)). It is known that it can be done.

Here, λ is the contingent variable vector, and μ is the Lagrange multiplier vector for the fixed condition of the terminal state quantity. In model predictive control (MPC), the optimum control input _update that minimizes the evaluation function J is obtained by numerically solving the above equation with the state quantity x ₀ as the initial value at each time. Can be done. As an indirect method, a gradient method such as Newton's method or the steepest descent method is known as a method for numerically analyzing. Further, as a direct method, a solution method that converts into a nonlinear programming problem and uses an active constraint method or an interior point method is known.

In the first embodiment, in order to achieve both speed tracking performance and vibration suppression performance and at the same time satisfy the constraint condition (kinetic energy), a quadratic evaluation function including a plurality of evaluation values as shown in Eq. (8). J is set. Moreover, the equation (9) and the equation (10) show the constraint condition.

In equation (8), v _d is the velocity response, v _ref is the velocity command value, a _d is the acceleration response, a _ref is the acceleration command value, u is the magnitude of the current command, and V is the kinetic energy. Further, w ₁ to w ₄ are weight coefficients, and the balance of each weight is adjusted by analysis or test.

Equation (9) shows the maximum and minimum values of the current command. Due to the constraint condition of the equation (9), a sudden change in the output is suppressed. Equation (10) shows the maximum and minimum values of kinetic energy. According to the constraint condition of the equation (10), the kinetic energy at the time of moving the door is controlled so as not to be excessive or too small.

In the equation (8), the first term indicates the velocity tracking error, and the second term indicates the acceleration tracking error. By including these terms in the evaluation function in this way, both speed tracking performance and vibration suppression performance are compatible.

As described above, the _optimum control input unit (current command) that minimizes the evaluation function J of the equation (8) can be numerically obtained by using the equations (3) to (7). At this time, the calculation for the above-mentioned prediction period is repeated at predetermined time intervals, and the _update is sequentially set by the calculation at each time point.

FIG. 3 shows an example of the speed waveform of the door by the model predictive control in the first embodiment. A speed command (speed pattern) is also shown in FIG.

As shown in FIG. 3, the shape of the velocity waveform substantially matches the velocity pattern. As described above, the first embodiment shows good speed tracking performance.

FIG. 4 shows an example of a velocity waveform by ordinary proportional integral control as a comparative example. In the waveform example of FIG. 4, unlike the first embodiment (FIG. 3), there is a deviation from the velocity pattern near the peak of the velocity.

FIG. 5 shows an example of the acceleration waveform of the door by the model predictive control (MPC) and the proportional integral control (PI control) in the first embodiment.

As shown in FIG. 5, according to the model predictive control (MPC) in the first embodiment, it is possible to suppress the vibration of the door while ensuring good speed followability (FIG. 3).

As described above, according to the first embodiment, since the current command is set by the optimum control that evaluates the speed and the acceleration of the door together, it is possible to achieve both the speed followability and the vibration suppression performance. .. In addition, since the kinetic energy of the door is evaluated under the constraint condition, safety is ensured even when a passenger comes into contact with the door, and energy saving is improved.

Further, in the first embodiment, since the plurality of control performances (speed followability, vibration suppression) and the kinetic energy of the door are collectively evaluated by one evaluation function, the balance of the plurality of control performances and the kinetic energy is achieved. It is possible to eliminate the need for complicated adjustment of the control gain and redesign of the control system.

It should be noted that, as in the first embodiment, the current command pattern is obtained in advance by solving the optimum control problem for the predetermined speed pattern as shown in FIG. 2 without performing sequential calculation, and the current command pattern is obtained according to the obtained current command pattern. It is also possible to control the inverter device 105.

FIG. 6 is an overall configuration diagram showing an elevator door drive system including a door control device (door control controller) according to a second embodiment of the present invention. Hereinafter, the points different from those of the first embodiment will be mainly described.

In the second embodiment, the position pattern (position command) generated by the position command generation unit 201 is input to the optimum control unit 113. Further, the position detection unit 203 integrates the speed information output from the speed detection unit 109 to calculate the position (movement distance) of the door (or motor). The calculated position information is input to the optimum control unit 113 as a position feedback value.

The optimum control unit 113 accelerates the acceleration, which is a state quantity in the door model 114, so that the position feedback value follows the position command based on the position command and the acceleration command generated by the acceleration command generation unit 110. A speed command is created by solving the optimum control problem and output to the speed control unit 202 so that the vibration of the door is suppressed according to the command.

In the second embodiment, the control unit for creating the PWM command is composed of the current control unit 108 and the speed control unit 202. The speed control unit 202 controls proportional integration so that the speed information feedback value follows the speed command based on the speed command input from the optimum control unit 113 and the speed information feedback value fed back from the speed detection unit 109. A current command is created by such means and output to the current control unit 108. Similar to the first embodiment, the current control unit 108 creates a PWM command so that the detected motor current becomes a desired current value given by the current command.

In the second embodiment, the optimum control unit 113 evaluates the position, the acceleration, the speed command, and the kinetic energy of the door by the evaluation index. Here, the position and acceleration evaluated are the position response of the door mechanism and the acceleration which is the state quantity, respectively, calculated by the door model 114.

In the second embodiment, the optimum control unit 113 calculates a speed command that minimizes the evaluation function J as in the equation (11) as an evaluation index. This makes it possible to obtain a speed pattern that opens and closes at the fastest speed within the range of constraints while suppressing the vibration of the door.

In equation (11), p _d is a position response, p _ref is a position command value, a _d is an acceleration value which is a state quantity, a _ref is an acceleration command value, and u is from the optimum control unit 113 to the speed control unit 202. The magnitude of the control input (speed command), V, is the kinetic energy of the door. w ₁ to w ₄ are weight coefficients, and the balance of each weight is adjusted by analysis or test.

Also in the second embodiment, the constraint conditions are represented by the equations (9) and (10). However, the equation (9) indicates the maximum value / minimum value of the speed command.

In the equation (11), the first term indicates the position tracking error, and the second term indicates the acceleration tracking error. In this way, by including these terms in the evaluation function, both position tracking performance and vibration suppression performance are compatible, and by minimizing the position tracking error, the door can be opened in the shortest time under constraints. Creates a speed pattern that opens and closes.

FIG. 7 shows the speed command (speed pattern) and the speed waveform of the door by the model prediction control in the second embodiment. A position pattern (position command) generated by the position command generation unit 201 is also shown in FIG. 7.

FIG. 7 shows the speed pattern and the speed waveform when the door is opened. At the time of starting the door, in order to reduce the noise of the door engaging portion, the position A where the engaging elements of the car side and the landing side doors come into contact with each other is set as the position command, and then the open end position B of the door is set as the position command.

As shown in FIG. 7, the speed pattern generated in the second embodiment has a different shape from the speed pattern shown in FIG. 2 in order to minimize the opening / closing time of the door.

Normally, the opening and closing of the door is often controlled by the speed control system, and the speed pattern as shown in FIG. 2 is applied. The velocity pattern of FIG. 2 has a low speed region near the open end and the closed end, and a high speed region in the central portion between both ends. The low speed range is provided in consideration of noise reduction at the start of opening and closing and reduction of the impact force received by the door. The shape of the velocity pattern as shown in FIG. 2 is empirically acquired. However, in the speed pattern as shown in FIG. 2, the opening / closing time is not always the shortest. On the other hand, in the second embodiment, the shape of the speed pattern having the shortest opening / closing speed can be obtained by solving the optimum control problem.

As described above, according to the second embodiment, the speed command is set by the optimum control that evaluates the position and acceleration of the door together, so that the door is the fastest while achieving both position followability and vibration suppression performance. Can be opened and closed. In addition, since the kinetic energy of the door is evaluated under the constraint condition, safety is ensured even when a passenger comes into contact with the door, and energy saving is improved.

Further, in the second embodiment, since the plurality of control performances (position followability, vibration suppression) and the kinetic energy of the door are collectively evaluated by one evaluation function, the balance of the plurality of control performances and the kinetic energy is achieved. It is possible to eliminate the need for complicated adjustment of the control gain and redesign of the control system.

As in the second embodiment, the speed command pattern is obtained in advance by solving the optimum control problem for the position pattern as shown in FIG. 7 without performing sequential calculation, and the inverter device is in accordance with the obtained speed command pattern. It is also possible to control 105.

The present invention is not limited to the above-mentioned examples, and includes various modifications. For example, the above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the described configurations. Further, it is possible to add / delete / replace a part of the configuration of each embodiment with another configuration.

For example, the door may be either single-door or double-door. In addition, the number of door panels that can be opened and closed may be arbitrary. Further, the driving force of the door motor may be transmitted to the door via the link mechanism. Further, the model of the door mechanism is not limited to the equation of state, and may be represented by a differential equation or the like.

101 DC power supply 102 DC capacitor 103 Car car 104 Door motor 105 Inverter device 106 Motor current detector 107 Rotary encoder 108 Current control unit 109 Speed detection unit 110 Acceleration command generation unit 111 Acceleration command generation unit 112 Constraint condition storage unit 113 Optimal control unit 114 Door model 115 Optimizer 116 Acceleration sensor 117 Acceleration detection unit 201 Position command generation unit 202 Speed control unit 203 Position detection unit

Claims (6)

In the elevator door control device that outputs a control command for driving the door mechanism provided in the car according to the target command of the door operating state.
A control unit that creates the control command according to the control input, and
An optimum control unit that has an evaluation index that evaluates the door operating state and the control input together, calculates the control input that optimizes the evaluation index, and outputs the calculated control input to the control unit. When,
Equipped with
The optimum control unit
It has a model of the door mechanism and has
The door operating state is calculated by the model, and the control input for optimizing the evaluation index is calculated based on the calculated door operating state.
The optimum control unit is
The model calculates the door operating state in the predicted section from the current time to a predetermined time, and based on the calculated door operating state, calculates the control input that optimizes the evaluation index in the predicted section.
A detection unit for detecting the door operating state of the door mechanism is provided.
The optimum control unit is
An elevator door control device, characterized in that the door operating state is calculated with the feedback value of the door operating state from the detection unit as an initial value . In the elevator door control device that outputs a control command for driving the door mechanism provided in the car according to the target command of the door operating state.
A control unit that creates the control command according to the control input, and
An optimum control unit that has an evaluation index that evaluates the door operating state and the control input together, calculates the control input that optimizes the evaluation index, and outputs the calculated control input to the control unit. ,
Equipped with
The door operating state is an elevator door control device comprising the acceleration of the door in the door mechanism . In the elevator door control device that outputs a control command for driving the door mechanism provided in the car according to the target command of the door operating state.
A control unit that creates the control command according to the control input, and
An optimum control unit that has an evaluation index that evaluates the door operating state and the control input together, calculates the control input that optimizes the evaluation index, and outputs the calculated control input to the control unit. ,
Equipped with
The door operating state is the speed and acceleration of the door in the door mechanism.
An elevator door control device, characterized in that the control input is a current command . In the elevator door control device that outputs a control command for driving the door mechanism provided in the car according to the target command of the door operating state.
A control unit that creates the control command according to the control input, and
An optimum control unit that has an evaluation index that evaluates the door operating state and the control input together, calculates the control input that optimizes the evaluation index, and outputs the calculated control input to the control unit. ,
Equipped with
The door operating state is the position and acceleration of the door in the door mechanism.
An elevator door control device, characterized in that the control input is a speed command . A door mechanism provided in a car, including a motor, a door that is opened and closed by the motor, and an inverter device that drives the motor.
A door control device that outputs a control command given to the inverter device to drive the door mechanism according to a target command of the door operating state, and a door control device.
In an elevator door drive system equipped with
The elevator door drive system, characterized in that the door control device is the elevator door control device according to any one of claims 2 to 4 . In the elevator door drive system according to claim 5.
The optimum control unit is
It has a model of the door mechanism and has
The model calculates the door operating state in the predicted interval from the current time to a predetermined time, and calculates the control input that optimizes the evaluation index in the predicted section based on the calculated door operating state. Elevator door drive system featuring.

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